Abstract : This technical report summarizes the technical content in addition to the main paper Escande, Mansard, Wieber (IJRR 2013). In the first section, we detail the complexity cost of the active-set algorithm. In Section 2, we recall the continuity property and gives the detailed proof. In Section 3, we recall the stability property of the inverse-kinematics control scheme using the hierarchical quadratic program solver. This report is not self-contained. It is to be red in addition to the main paper.